Vehicle lane Robust identifying method for lane deviation warning

A technology of lane departure alarm and identification method, applied in the field of automotive active safety

Inactive Publication Date: 2007-04-11
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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  • Vehicle lane Robust identifying method for lane deviation warning
  • Vehicle lane Robust identifying method for lane deviation warning
  • Vehicle lane Robust identifying method for lane deviation warning

Examples

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Embodiment 1

[0086] Aiming at the image characteristics of expressway lanes, the present invention proposes a method for recognizing the left and right marking lines of the current vehicle lane with good real-time performance, anti-interference ability and environmental adaptability (see Figure 2 for the overall process), the method mainly includes The following steps:

[0087] 1. Determine the left and right local window positions

[0088] The positions of the two local windows to be processed (see Figure 1) in the image coordinate system OXY can be calculated and determined according to the characteristic parameter information of the left and right lane marking lines acquired in the previous frame. For the interested left-moving local window, in order to facilitate processing, the upper and lower bottom positions of the trapezoidal window can be fixed in advance, that is, the y coordinates of the upper and lower bottoms are all taken as appropriate constant values ​​in advance, and...

Embodiment 2

[0150] In order to test the actual effect of the lane marking line recognition method proposed by the present invention, a sports car experiment was carried out. The basic situation of the experiment is described as follows:

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Abstract

A lane robust identification method for warning departure is that first conducts conditional edge detection on the left and right local windows, and constructs the corresponding gradient direction map. Then, according to the histogram processing method, the gradient direction range of lane edge points on every local window. Aiming at the continuity features of direction and space of lane edge points, the filtering algorithm of the candidate and effect point collection is put forward and every window is filtered. Finally, according to the established effective point collection corresponding to each window, the rapid and accurate extraction of lane symbol is realized though the Kalman filter method based on scalar processing.

Description

technical field [0001] The invention relates to an image processing method capable of real-time identification of the left and right marking lines of the lane on which the car is traveling on the expressway. The purpose is to determine the relative relationship between the car and the lane, to monitor and give an alarm in real time to whether the car deviates from the lane, and to avoid lane deviation. The occurrence of traffic accidents belongs to the field of automobile active safety technology. Background technique [0002] With the rapid development of traffic and automobile industry, the mileage of highways and car ownership in the world are increasing rapidly, and the traffic accidents caused by high-speed driving of automobiles are also increasing sharply, causing huge economic losses and casualties. According to statistics, about 10 million people are injured in road traffic accidents in the world every year, of which 3 million people are ...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/46G06T7/00
Inventor 张为公李旭秦文虎
Owner SOUTHEAST UNIV
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